Search results for: fuzzy relation

Authors: Yuan-Jye Tseng, Yen-Jung Wang

Abstract:

A product development for green logistics model using the fuzzy analytic network process method is presented for evaluating the relationships among the product design, the manufacturing activities, and the green supply chain. In the product development stage, there can be alternative ways to design the detailed components to satisfy the design concept and product requirement. In different design alternative cases, the manufacturing activities can be different. In addition, the manufacturing activities can affect the green supply chain of the components and product. In this research, a fuzzy analytic network process evaluation model is presented for evaluating the criteria in product design, manufacturing activities, and green supply chain. The comparison matrices for evaluating the criteria among the three groups are established. The total relational values between the three groups represent the relationships and effects. In application, the total relational values can be used to evaluate the design alternative cases for decision-making to select a suitable design case and the green supply chain. In this presentation, an example product is illustrated. It shows that the model is useful for integrated evaluation of design and manufacturing and green supply chain for the purpose of product development for green logistics.

Keywords: Supply chain management, green supply chain, product development for logistics, fuzzy analytic network process.

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Authors: Chen Wu, Lijuan Wang

Abstract:

Relation between tolerance class and indispensable attribute and knowledge dependency in rough set model with tolerance relation is explored. After giving definitions and concepts of knowledge dependency and knowledge dependency degree for incomplete information system in tolerance rough set model by distinguishing decision attribute containing missing attribute value or not, the result of maintaining reflectivity, transitivity, augmentation, decomposition law and merge law for complete knowledge dependency is proved. Knowledge dependency degrees (not complete knowledge dependency degrees) only satisfy some laws after transitivity, augmentation and decomposition operations. An algorithm to solve attribute reduction in an incomplete decision table is designed. The correctness is checked by an example.

Keywords: Incomplete information system, rough set, tolerance relation, knowledge dependence, attribute reduction.

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Authors: Seyed Sadegh Naseralavi, Najmeh Bemani

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In this paper, different concrete codes including America, New Zealand, Mexico, Italy, India, Canada, Hong Kong, Euro Code and Britain are compared with the Iranian concrete design code. First, by using Adaptive Neuro Fuzzy Inference System (ANFIS), the codes having the most correlation with the Iranian ninth issue of the national regulation are determined. Consequently, two anticipated methods are used for comparing the codes: Artificial Neural Network (ANN) and Multi-variable regression. The results show that ANN performs better. Predicting is done by using only tensile steel ratio and with ignoring the compression steel ratio.

Keywords: Concrete design code, anticipate method, artificial neural network, multi-variable regression, adaptive neuro fuzzy inference system.

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Authors: Naiqin Feng, Fang Wang, Yuhui Qiu

Abstract:

A new approach to promote the generalization ability of neural networks is presented. It is based on the point of view of fuzzy theory. This approach is implemented through shrinking or magnifying the input vector, thereby reducing the difference between training set and testing set. It is called “shrinking-magnifying approach" (SMA). At the same time, a new algorithm; α-algorithm is presented to find out the appropriate shrinking-magnifying-factor (SMF) α and obtain better generalization ability of neural networks. Quite a few simulation experiments serve to study the effect of SMA and α-algorithm. The experiment results are discussed in detail, and the function principle of SMA is analyzed in theory. The results of experiments and analyses show that the new approach is not only simpler and easier, but also is very effective to many neural networks and many classification problems. In our experiments, the proportions promoting the generalization ability of neural networks have even reached 90%.

Keywords: Fuzzy theory, generalization, misclassification rate, neural network.

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Authors: Loredana Drobot

Abstract:

A therapeutic success is the aim of any therapeutic intervention, but a therapeutic failure is the other side of the same coin. The purpose of this study is to present the activity of a personal development group, composed of 14 participants (psychologists, doctors and a priest) registered for a 2 days course of integrative psychotherapy. The objectives of this study are centred on: the management of the personal development group breaking moment realized by the therapist/trainer; the analysis of the trainer’s personal situation and of some group participants and the brief presentation of the main work methods applied on participants in the repairing of the therapeutic relation and in the counter transfer management. The therapist’s orientation is an integrative one and the demarche realized includes T.A. techniques, role play, Gestalt and family systemic psychotherapy. The conclusions obtained represent landmarks for the future activity within that group and strengthen the therapeutic relation with the group.

Keywords: Therapeutic success, therapeutic failure.

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Authors: Mert Bal, Hayri Sever, Oya Kalıpsız

Abstract:

Medical Decision Support Systems (MDSSs) are sophisticated, intelligent systems that can provide inference due to lack of information and uncertainty. In such systems, to model the uncertainty various soft computing methods such as Bayesian networks, rough sets, artificial neural networks, fuzzy logic, inductive logic programming and genetic algorithms and hybrid methods that formed from the combination of the few mentioned methods are used. In this study, symptom-disease relationships are presented by a framework which is modeled with a formal concept analysis and theory, as diseases, objects and attributes of symptoms. After a concept lattice is formed, Bayes theorem can be used to determine the relationships between attributes and objects. A discernibility relation that forms the base of the rough sets can be applied to attribute data sets in order to reduce attributes and decrease the complexity of computation.

Keywords: Formal Concept Analysis, Rough Set Theory, Granular Computing, Medical Decision Support System.

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Authors: A. P. Anvar, T. Dowling, T. Putland, A. M. Anvar, S.Grainger

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This paper presents the application of Intelligent Techniques to the various duties of Intelligent Condition Monitoring Systems (ICMS) for Unmanned Aerial Vehicle (UAV) Robots. These Systems are intended to support these Intelligent Robots in the event of a Fault occurrence. Neural Networks are used for Diagnosis, whilst Fuzzy Logic is intended for Prognosis and Remedy. The ultimate goals of ICMS are to save large losses in financial cost, time and data.

Keywords: Intelligent Techniques, Condition Monitoring Systems, ICMS, Robots, Fault, Unmanned Aerial Vehicle, UAV, Neural Networks, Diagnosis, Fuzzy Logic, Prognosis, Remedy.

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Authors: Chen Wu, Youquan Xu, Dandan Li, Ronghua Yang, Lijuan Wang

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In rough set models, tolerance relation, similarity relation and limited tolerance relation solve different situation problems for incomplete information systems in which there exists a phenomenon of missing value. If two objects have the same few known attributes and more unknown attributes, they cannot distinguish them well. In order to solve this problem, we presented two improved limited and variable precision rough set models. One is symmetric, the other one is non-symmetric. They all use more stringent condition to separate two small probability equivalent objects into different classes. The two models are needed to engage further study in detail. In the present paper, we newly form object classes with a different respect comparing to the first suggested model. We overcome disadvantages of non-symmetry regarding to the second suggested model. We discuss relationships between or among several models and also make rule generation. The obtained results by applying the second model are more accurate and reasonable.

Keywords: Incomplete information system, rough set, symmetry, variable precision.

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Authors: P. Saravanan, T. Arunkumar

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Vehicular Adhoc Network (VANET) is a new technology which aims to ensure intelligent inter-vehicle communications, seamless internet connectivity leading to improved road safety, essential alerts, and access to comfort and entertainment. VANET operations are hindered by mobile node’s (vehicles) uncertain mobility. Routing algorithms use metrics to evaluate which path is best for packets to travel. Metrics like path length (hop count), delay, reliability, bandwidth, and load determine optimal route. The proposed scheme exploits link quality, traffic density, and intersections as routing metrics to determine next hop. This study enhances Geographical Routing Protocol (GRP) using fuzzy controllers while rules are optimized with Bee Swarm Optimization (BSO). Simulations results are compared to conventional GRP.

Keywords: Bee Swarm Optimization (BSO), Geographical Routing Protocol (GRP), Vehicular Adhoc Network (VANET).

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Authors: Mohammad Najafi Nobar, Bahareh Pourmehr, Mehdi Hajimirarab

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One of the main processes of supply chain management is supplier selection process which its accurate implementation can dramatically increase company competitiveness. In presented article model developed based on the features of second tiers suppliers and four scenarios are predicted in order to help the decision maker (DM) in making up his/her mind. In addition two tiers of suppliers have been considered as a chain of suppliers. Then the proposed approach is solved by a method combined of concepts of fuzzy set theory (FST) and linear programming (LP) which has been nourished by real data extracted from an engineering design and supplying parts company. At the end results reveal the high importance of considering second tier suppliers features as criteria for selecting the best supplier.

Keywords: Supply Chain Management (SCM), SupplierSelection, Second Tier Supplier, Scenario Planning, Green Factor, Linear Programming, Fuzzy Set Theory

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Authors: Dinesh Acharya U., N. V. Subba Reddy, Krishnamoorthi Makkithaya

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The recognition of handwritten numeral is an important area of research for its applications in post office, banks and other organizations. This paper presents automatic recognition of handwritten Kannada numerals based on structural features. Five different types of features, namely, profile based 10-segment string, water reservoir; vertical and horizontal strokes, end points and average boundary length from the minimal bounding box are used in the recognition of numeral. The effect of each feature and their combination in the numeral classification is analyzed using nearest neighbor classifiers. It is common to combine multiple categories of features into a single feature vector for the classification. Instead, separate classifiers can be used to classify based on each visual feature individually and the final classification can be obtained based on the combination of separate base classification results. One popular approach is to combine the classifier results into a feature vector and leaving the decision to next level classifier. This method is extended to extract a better information, possibility distribution, from the base classifiers in resolving the conflicts among the classification results. Here, we use fuzzy k Nearest Neighbor (fuzzy k-NN) as base classifier for individual feature sets, the results of which together forms the feature vector for the final k Nearest Neighbor (k-NN) classifier. Testing is done, using different features, individually and in combination, on a database containing 1600 samples of different numerals and the results are compared with the results of different existing methods.

Keywords: Fuzzy k Nearest Neighbor, Multiple Classifiers, Numeral Recognition, Structural features.

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Authors: Mohd Iz'aan Paiz Bin Zamri, Anis Salwa Mohd Khairuddin, Norrima Mokhtar, Rubiyah Yusof

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Effective statistical feature extraction and classification are important in image-based automatic inspection and analysis. An automatic wood species recognition system is designed to perform wood inspection at custom checkpoints to avoid mislabeling of timber which will results to loss of income to the timber industry. The system focuses on analyzing the statistical pores properties of the wood images. This paper proposed a fuzzy-based feature extractor which mimics the experts’ knowledge on wood texture to extract the properties of pores distribution from the wood surface texture. The proposed feature extractor consists of two steps namely pores extraction and fuzzy pores management. The total number of statistical features extracted from each wood image is 38 features. Then, a backpropagation neural network is used to classify the wood species based on the statistical features. A comprehensive set of experiments on a database composed of 5200 macroscopic images from 52 tropical wood species was used to evaluate the performance of the proposed feature extractor. The advantage of the proposed feature extraction technique is that it mimics the experts’ interpretation on wood texture which allows human involvement when analyzing the wood texture. Experimental results show the efficiency of the proposed method.

Keywords: Classification, fuzzy, inspection system, image analysis.

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Authors: Safiah A. Madkhali

Abstract:

The grammatical relation object has not attracted the same attention in the literature as subject has. Where there is a clearly monotransitive verb such as kick, the criteria for identifying the grammatical relation may converge. However, the term object is also used to refer to phenomena that do not subsume all, or even most, of the recognized properties of the canonical object. Instances of such phenomena include non-canonical objects such as the ones in the so-called double-object construction i.e., the indirect object and the direct object as in (He bought his dog a new collar). In this paper, it is demonstrated how criteria of identifying the grammatical relation object that are found in the theoretical and typological literature can be applied to Arabic. Also, further language-specific criteria are here derived from the regularities of the canonical object in the language. The criteria established in this way are then applied to the non-canonical objects to demonstrate how far they conform to, or diverge from, the canonical object. Contrary to the claim that the direct object is more similar to the canonical object than is the indirect object, it was found that it is, in fact, the indirect object rather than the direct object that shares most of the aspects of the canonical object in monotransitive clauses.

Keywords: Canonical objects, double-object constructions, direct object, indirect object, non-canonical objects.

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Authors: R. Amandi, A. Shahbazi, A. Mohebi, M. Bazargan, Y. Jaberi, P. Emadi, A. Valizade

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The application of Neural Network for disease diagnosis has made great progress and is widely used by physicians. An Electrocardiogram carries vital information about heart activity and physicians use this signal for cardiac disease diagnosis which was the great motivation towards our study. In our work, tachycardia features obtained are used for the training and testing of a Neural Network. In this study we are using Fuzzy Probabilistic Neural Networks as an automatic technique for ECG signal analysis. As every real signal recorded by the equipment can have different artifacts, we needed to do some preprocessing steps before feeding it to our system. Wavelet transform is used for extracting the morphological parameters of the ECG signal. The outcome of the approach for the variety of arrhythmias shows the represented approach is superior than prior presented algorithms with an average accuracy of about %95 for more than 7 tachy arrhythmias.

Keywords: Fuzzy Logic, Probabilistic Neural Network, Tachycardia, Wavelet Transform.

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Authors: Kyonghoon Kim, Wonyoung Park, Taeil Park

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Aging infrastructures became a serious social problem. This brought out the increased need for the legislation of a new strict guideline for infrastructure management. Although existing guidelines provided basics of how to evaluate and manage the condition of infrastructures, they needed improvements for their evaluation procedures. Most guidelines mainly focused on the structural condition of infrastructures and did not properly reflect service aspects of infrastructures such as performance, public demand, capacity, etc., which were significantly valuable to public. Regardless of the importance, these factors were often neglected in infrastructure evaluations, because they were quite subjective and difficult to quantify in rational manner. Thus, this study proposed a framework to properly identify and evaluate the service indicators. This study showed that service indicators could be grouped into two categories and properly evaluated using AHP and Fuzzy. Overall, proposed framework is expected to assist governmental agency in establishing effective investment strategies for infrastructure improvements.

Keywords: Infrastructure, evaluation, serviceability, fuzzy.

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Authors: Yi-an Cui, Lu Wang, Jian-ping Xiao

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This paper presents an automatic feature recognition method based on center-surround difference detecting and fuzzy logic that can be applied in ground-penetrating radar (GPR) image processing. Adopted center-surround difference method, the salient local image regions are extracted from the GPR images as features of detected objects. And fuzzy logic strategy is used to match the detected features and features in template database. This way, the problem of objects detecting, which is the key problem in GPR image processing, can be converted into two steps, feature extracting and matching. The contributions of these skills make the system have the ability to deal with changes in scale, antenna and noises. The results of experiments also prove that the system has higher ratio of features sensing in using GPR to image the subsurface structures.

Keywords: feature recognition, GPR image, matching strategy, salient image

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Authors: Osamah A. Alsayegh

Abstract:

This paper contributes to the literature by updating the analysis of the impact of the recent oil prices fall on the renewable energy (RE) industry and deployment. The research analysis uses the Renewable Energy Industrial Index (RENIXX), which tracks the world’s 30 largest publicly traded companies and oil prices daily data from January 2003 to March 2016. RENIXX represents RE industries developing solar, wind, geothermal, bioenergy, hydropower and fuel cells technologies. This paper tests the hypothesis that claims high oil prices encourage the substitution of alternate energy sources for conventional energy sources. Furthermore, it discusses RENIXX performance behavior with respect to the governments’ policies factor that investors should take into account. Moreover, the paper proposes a theoretical model that relates RE industry progress with oil prices and policies through the fuzzy logic system.

Keywords: Fuzzy logic, investment, policy, stock exchange index.

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Authors: Amirhossein Karamoozian, Desheng Wu, Behzad Abbasnejad

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Building information modelling (BIM) is a new technology to enhance the efficiency of project management in the construction industry. In addition to the potential benefits of this useful technology, there are various risks and obstacles to applying it in construction projects. In this study, a decision making approach is presented for risk assessment in BIM adoption in construction projects. Various risk factors of exerting BIM during different phases of the project lifecycle are identified with the help of Delphi method, experts’ opinions and related literature. Afterward, Shannon’s entropy and Fuzzy TOPSIS (Technique for Order Preference by Similarity to Ideal Situation) are applied to derive priorities of the identified risk factors. Results indicated that lack of knowledge between professional engineers about workflows in BIM and conflict of opinions between different stakeholders are the risk factors with the highest priority.

Keywords: Risk, BIM, Shannon’s entropy, Fuzzy TOPSIS, construction projects.

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Authors: K. Sakthivel, R. Nallusamy, C. Kavitha

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The system is designed to show images which are related to the query image. Extracting color, texture, and shape features from an image plays a vital role in content-based image retrieval (CBIR). Initially RGB image is converted into HSV color space due to its perceptual uniformity. From the HSV image, Color features are extracted using block color histogram, texture features using Haar transform and shape feature using Fuzzy C-means Algorithm. Then, the characteristics of the global and local color histogram, texture features through co-occurrence matrix and Haar wavelet transform and shape are compared and analyzed for CBIR. Finally, the best method of each feature is fused during similarity measure to improve image retrieval effectiveness and accuracy.

Keywords: Color Histogram, Haar Wavelet Transform, Fuzzy C-means, Co-occurrence matrix; Similarity measure.

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Authors: N. F. F. Ebecken, G. C. Pereira

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Ecological systems are exposed and are influenced by various natural and anthropogenic disturbances. They produce various effects and states seeking response symmetry to a state of global phase coherence or stability and balance of their food webs. This research project addresses the development of a computational methodology for modeling plankton food webs. The use of algorithms to establish connections, the generation of representative fuzzy multigraphs and application of technical analysis of complex networks provide a set of tools for defining, analyzing and evaluating community structure of coastal aquatic ecosystems, beyond the estimate of possible external impacts to the networks. Thus, this study aims to develop computational systems and data models to assess how these ecological networks are structurally and functionally organized, to analyze the types and degree of compartmentalization and synchronization between oscillatory and interconnected elements network and the influence of disturbances on the overall pattern of rhythmicity of the system.

Keywords: Ecological networks, plankton food webs, fuzzy multigraphs, dynamic of networks.

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Authors: Latha Parthiban, R. Subramanian

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Heart disease (HD) is a major cause of morbidity and mortality in the modern society. Medical diagnosis is an important but complicated task that should be performed accurately and efficiently and its automation would be very useful. All doctors are unfortunately not equally skilled in every sub specialty and they are in many places a scarce resource. A system for automated medical diagnosis would enhance medical care and reduce costs. In this paper, a new approach based on coactive neuro-fuzzy inference system (CANFIS) was presented for prediction of heart disease. The proposed CANFIS model combined the neural network adaptive capabilities and the fuzzy logic qualitative approach which is then integrated with genetic algorithm to diagnose the presence of the disease. The performances of the CANFIS model were evaluated in terms of training performances and classification accuracies and the results showed that the proposed CANFIS model has great potential in predicting the heart disease.

Keywords: CANFIS, genetic algorithms, heart disease, membership function.

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Authors: Mehdi Nafar, Mohammad Reza Mansouri

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The present research presents a direct active and reactive power control (DPC) of a wind energy conversion system (WECS) for the maximum power point tracking (MPPT) based on a doubly fed induction generator (DFIG) connected to electric power grid. The control strategy of the Rotor Side Converter (RSC) is targeted in extracting a maximum of power under fluctuating wind speed. A fuzzy logic speed controller (FLC) has been used to ensure the MPPT. The Grid Side Converter is directed in a way to ensure sinusoidal current in the grid side and a smooth DC voltage. To reduce fluctuations, rotor torque and voltage use of multilevel inverters is a good way to remove the rotor harmony.

Keywords: DFIG, power quality improvement, wind energy conversion system, WECS, fuzzy logic, RSC, GSC, inverter.

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Authors: Yul Y. Nazaruddin, Anas Y. Widiaribowo, Satriyo Nugroho

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Boiler is one of the critical unit in a petrochemical plant. Steam produced by the boiler is used for various processes in the plant such as urea and ammonia plant. An alternative method to optimize the boiler combustion system is presented in this paper. Adaptive Neuro-Fuzzy Inference System (ANFIS) approach is applied to model the boiler using real-time operational data collected from a boiler unit of the petrochemical plant. Nonlinear equation obtained is then used to optimize the air to fuel ratio using Genetic Algorithm, resulting an optimal ratio of 15.85. This optimal ratio is then maintained constant by ratio controller designed using inverse dynamics based on ANFIS. As a result, constant value of oxygen content in the flue gas is obtained which indicates more efficient combustion process.

Keywords: ANFIS, boiler, combustion process, genetic algorithm, optimization.

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Authors: Kechida Ahmed, Drai Redouane, Khelil Mohamed

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In this paper we present a new approach to detecting a flaw in T.O.F.D (Time Of Flight Diffraction) type ultrasonic image based on texture features. Texture is one of the most important features used in recognizing patterns in an image. The paper describes texture features based on 2D Gabor functions, i.e., Gaussian shaped band-pass filters, with dyadic treatment of the radial spatial frequency range and multiple orientations, which represent an appropriate choice for tasks requiring simultaneous measurement in both space and frequency domains. The most relevant features are used as input data on a Fuzzy c-mean clustering classifier. The classes that exist are only two: 'defects' or 'no defects'. The proposed approach is tested on the T.O.F.D image achieved at the laboratory and on the industrial field.

Keywords: 2D Gabor Functions, flaw detection, fuzzy c-mean clustering, non destructive testing, texture analysis, T.O.F.D Image (Time of Flight Diffraction).

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Authors: Ekachai Phaisangittisagul, Rapeepol Chongprachawat

Abstract:

Obtaining labeled data in supervised learning is often difficult and expensive, and thus the trained learning algorithm tends to be overfitting due to small number of training data. As a result, some researchers have focused on using unlabeled data which may not necessary to follow the same generative distribution as the labeled data to construct a high-level feature for improving performance on supervised learning tasks. In this paper, we investigate the impact of the relationship between unlabeled and labeled data for classification performance. Specifically, we will apply difference unlabeled data which have different degrees of relation to the labeled data for handwritten digit classification task based on MNIST dataset. Our experimental results show that the higher the degree of relation between unlabeled and labeled data, the better the classification performance. Although the unlabeled data that is completely from different generative distribution to the labeled data provides the lowest classification performance, we still achieve high classification performance. This leads to expanding the applicability of the supervised learning algorithms using unsupervised learning.

Keywords: Autoencoder, high-level feature, MNIST dataset, selftaught learning, supervised learning.

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Authors: Naima Ikken, Abdelhadi Bouknadel, Nour-eddine Tariba Ahmed Haddou, Hafsa El Omari

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The operation of grid-connected inverters necessity a single-phase phase locked loop (PLL) is proposed in this article to accurately and quickly estimate and detect the grid phase angle. This article presents the improvement of a method of phase-locked loop. The novelty is to generate a method (PLL) of synchronizing the grid with a Notch filter based on adaptive fuzzy logic for inverter systems connected to the grid. The performance of the proposed method was tested under normal and abnormal operating conditions (amplitude, frequency and phase shift variations). In addition, simulation results with ISPM software are developed to verify the effectiveness of the proposed method strategy. Finally, the experimental test will be used to extract the result and discuss the validity of the proposed algorithm.

Keywords: Phase locked loop, PLL, notch filter, fuzzy logic control.

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Authors: João V. Staub de Melo, Glicério Trichês, Liseane P. Thives

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This paper presents the results of the development of asphalt nanocomposites containing carbon nanotubes (CNTs) with high resistance to permanent deformation, aiming to increase the performance of asphalt surfaces in relation to the rutting problem. Asphalt nanocomposites were prepared with the addition of different proportions of CNTs (1%, 2% and 3%) in relation to the weight of asphalt binder. The base binder used was a conventional binder (50-70 penetration) classified as PG 58-22. The optimum percentage of CNT addition in the asphalt binder (base) was determined through the evaluation of the rheological and empirical characteristics of the nanocomposites produced. In order to evaluate the contribution and the effects of the nanocomposite (optimized) in relation to the rutting, the conventional and nanomodified asphalt mixtures were tested in a French traffic simulator (Orniéreur). The results obtained demonstrate the efficient contribution of the asphalt nanocomposite containing CNTs to the resistance to permanent deformation of the asphalt mixture.

Keywords: Asphalt nanocomposites, asphalt mixtures, carbon nanotubes, nanotechnology, permanent deformation.

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Authors: R. Saraçoğlu, N. Allahverdi

Abstract:

Searching similar documents and document management subjects have important place in text mining. One of the most important parts of similar document research studies is the process of classifying or clustering the documents. In this study, a similar document search approach that includes discussion of out the case of belonging to multiple categories (multiple categories problem) has been carried. The proposed method that based on Fuzzy Similarity Classification (FSC) has been compared with Rocchio algorithm and naive Bayes method which are widely used in text mining. Empirical results show that the proposed method is quite successful and can be applied effectively. For the second stage, multiple categories vector method based on information of categories regarding to frequency of being seen together has been used. Empirical results show that achievement is increased almost two times, when proposed method is compared with classical approach.

Keywords: Document similarity, Fuzzy classification, Multiple categories, Text mining.

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Authors: Y. Sabzehmeidani, M. Mailah, M. Hussein, A. R. Tavakolpour

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In this paper, a worm-like micro robot designed for inpipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportionalintegral- derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system-s tracking capability in the wake of the disturbances.

Keywords: Active Force Control, Micro Robot, Fuzzy Logic, In-pipe Application.

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Authors: G.K.Panda, S.S.Rout

Abstract:

The balancing numbers are natural numbers n satisfying the Diophantine equation 1 + 2 + 3 + · · · + (n - 1) = (n + 1) + (n + 2) + · · · + (n + r); r is the balancer corresponding to the balancing number n.The nth balancing number is denoted by Bn and the sequence {Bn}1 n=1 satisfies the recurrence relation Bn+1 = 6Bn-Bn-1. The balancing numbers posses some curious properties, some like Fibonacci numbers and some others are more interesting. This paper is a study of recurrent sequence {xn}1 n=1 satisfying the recurrence relation xn+1 = Axn - Bxn-1 and possessing some curious properties like the balancing numbers.

Keywords: Recurrent sequences, Balancing numbers, Lucas balancing numbers, Binet form.

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